import cv2
import cv2.aruco as aruco

# マーカー辞書（4x4の50種類のうちの1つ）
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)

# ID=1 のマーカーを 200x200ピクセルで生成
marker_image = aruco.drawMarker(aruco_dict, id=1, sidePixels=200)

# 画像として保存
cv2.imwrite("aruco_id1.png", marker_image)

# 表示（任意）
cv2.imshow("AR Marker - ID 1", marker_image)
cv2.waitKey(0)
cv2.destroyAllWindows()

import cv2
import cv2.aruco as aruco

# マーカー辞書（4x4の50種類のうちの1つ）
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)

# ID=1 のマーカーを 200x200ピクセルで生成
marker_image = aruco.drawMarker(aruco_dict, id=1, sidePixels=200)

# 画像として保存
cv2.imwrite("aruco_id1.png", marker_image)

# 表示（任意）
cv2.imshow("AR Marker - ID 1", marker_image)
cv2.waitKey(0)
cv2.destroyAllWindows()

import cv2
import cv2.aruco as aruco
import numpy as np
import socket, threading, time
import pygame

import cv2
import cv2.aruco as aruco
import numpy as np
import socket, threading, time
import pygame

aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
parameters = aruco.DetectorParameters()

aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
parameters = aruco.DetectorParameters()

host = '0.0.0.0'
port = 8889
tello_addr = ('192.168.10.1', 8889)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

host = '0.0.0.0'
port = 8889
tello_addr = ('192.168.10.1', 8889)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

def recv():
    while True:
        try:
            data, _ = sock.recvfrom(1518)
            print(data.decode('utf-8'))
        except:
            break

def recv():
    while True:
        try:
            data, _ = sock.recvfrom(1518)
            print(data.decode('utf-8'))
        except:
            break

threading.Thread(target=recv, daemon=True).start()

threading.Thread(target=recv, daemon=True).start()

def send(cmd, delay=1):
    sock.sendto(cmd.encode(), tello_addr)
    print(f">>> {cmd}")
    time.sleep(delay)

def send(cmd, delay=1):
    sock.sendto(cmd.encode(), tello_addr)
    print(f">>> {cmd}")
    time.sleep(delay)

send('command')
send('streamon')
cap = cv2.VideoCapture("udp://192.168.10.1:11111")

send('command')
send('streamon')
cap = cv2.VideoCapture("udp://192.168.10.1:11111")

pygame.mixer.init()
point_sound = pygame.mixer.Sound("point.wav")

pygame.mixer.init()
point_sound = pygame.mixer.Sound("point.wav")

def play_point_sound():
    point_sound.stop()
    point_sound.play()

def play_point_sound():
    point_sound.stop()
    point_sound.play()

def draw_star(img, center, size, color, thickness):

def draw_star(img, center, size, color, thickness):

score = 0
passed = set()
MARKERS = {
    0: 'star_floor', ...
}
DESIRED_HEIGHT_CM = 90

score = 0
passed = set()
MARKERS = {
    0: 'star_floor', ...
}
DESIRED_HEIGHT_CM = 90

while True:
    ret, frame = cap.read()
    if not ret:
        continue

while True:
    ret, frame = cap.read()
    if not ret:
        continue

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    corners, ids, _ = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    corners, ids, _ = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)

    frame_center = (frame.shape[1] // 2, frame.shape[0] // 2)

    frame_center = (frame.shape[1] // 2, frame.shape[0] // 2)

if ids is not None:
        for idx, i in enumerate(ids.flatten()):
            c = corners[idx][0]
            cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())
            size_px = np.linalg.norm(c[0] - c[2])
            cm_per_px = size_px / 21.0
            shape = MARKERS.get(i, 'unknown')
            size = int(25 * cm_per_px)

            offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)
            cy_offset = cy + offset_y
            cy_offset = max(0, min(frame.shape[0] - 1, cy_offset))
            center_pos = (cx, cy_offset)

if ids is not None:
        for idx, i in enumerate(ids.flatten()):
            c = corners[idx][0]
            cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())
            size_px = np.linalg.norm(c[0] - c[2])
            cm_per_px = size_px / 21.0
            shape = MARKERS.get(i, 'unknown')
            size = int(25 * cm_per_px)

            offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)
            cy_offset = cy + offset_y
            cy_offset = max(0, min(frame.shape[0] - 1, cy_offset))
            center_pos = (cx, cy_offset)

if ids is not None:

if ids is not None:

    for idx, i in enumerate(ids.flatten()):

    for idx, i in enumerate(ids.flatten()):

        c = corners[idx][0]

        c = corners[idx][0]

        cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())

        cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())

        size_px = np.linalg.norm(c[0] - c[2])

        size_px = np.linalg.norm(c[0] - c[2])

        cm_per_px = size_px / 21.0

        cm_per_px = size_px / 21.0

        shape = MARKERS.get(i, 'unknown')

        shape = MARKERS.get(i, 'unknown')

        size = int(25 * cm_per_px)

        size = int(25 * cm_per_px)

        offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)

        offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)

        cy_offset = cy + offset_y

        cy_offset = cy + offset_y

        cy_offset = max(0, min(frame.shape[0] - 1, cy_offset))

        cy_offset = max(0, min(frame.shape[0] - 1, cy_offset))

        center_pos = (cx, cy_offset)

        center_pos = (cx, cy_offset)

            cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())

            cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())

            size_px = np.linalg.norm(c[0] - c[2])
            cm_per_px = size_px / 21.0

            size_px = np.linalg.norm(c[0] - c[2])
            cm_per_px = size_px / 21.0

            offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)

            offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)

  if shape == 'star_floor' or shape == 'star_floor2':
                draw_star(frame, center_pos, size, (0, 255, 255), thickness=10)
            elif shape == 'pentagon' or shape == 'pentagon2':
                draw_polygon(frame, center_pos, size, 5, (255, 0, 0), thickness=10)
            elif shape == 'circle':
                draw_circle(frame, center_pos, size, (0, 0, 255), thickness=10)
            elif shape == 'triangle':
                draw_polygon(frame, center_pos, size, 3, (0, 255, 0), thickness=10)
            elif shape == 'star_vertical':
                draw_star(frame, center_pos, size, (0, 165, 255), thickness=10)
            elif shape == 'pyramid':
                draw_pyramid(frame, center_pos, size)
            elif shape == 'cube_transparent':
                draw_transparent_cube(frame, center_pos, size)
            elif shape == 'shadow_square':
                draw_shadowed_square(frame, center_pos, size)

  if shape == 'star_floor' or shape == 'star_floor2':
                draw_star(frame, center_pos, size, (0, 255, 255), thickness=10)
            elif shape == 'pentagon' or shape == 'pentagon2':
                draw_polygon(frame, center_pos, size, 5, (255, 0, 0), thickness=10)
            elif shape == 'circle':
                draw_circle(frame, center_pos, size, (0, 0, 255), thickness=10)
            elif shape == 'triangle':
                draw_polygon(frame, center_pos, size, 3, (0, 255, 0), thickness=10)
            elif shape == 'star_vertical':
                draw_star(frame, center_pos, size, (0, 165, 255), thickness=10)
            elif shape == 'pyramid':
                draw_pyramid(frame, center_pos, size)
            elif shape == 'cube_transparent':
                draw_transparent_cube(frame, center_pos, size)
            elif shape == 'shadow_square':
                draw_shadowed_square(frame, center_pos, size)

            distance = np.hypot(cx - frame_center[0], cy - frame_center[1])

            distance = np.hypot(cx - frame_center[0], cy - frame_center[1])

            if distance < 100 and marker_key not in passed:
                score += 10
                passed.add(marker_key)
                play_point_sound()

            if distance < 100 and marker_key not in passed:
                score += 10
                passed.add(marker_key)
                play_point_sound()

            if marker_key in passed:
                cv2.putText(frame, "X", ...)

            if marker_key in passed:
                cv2.putText(frame, "X", ...)

    cv2.putText(frame, f"Score: {score}", ...)
    cv2.imshow("Tello AR 7Shapes", frame)
    if cv2.waitKey(1) == 27:
        break

    cv2.putText(frame, f"Score: {score}", ...)
    cv2.imshow("Tello AR 7Shapes", frame)
    if cv2.waitKey(1) == 27:
        break

def draw_star(img, center, size, color, thickness):
    pts = []
    cx, cy = center
    for i in range(5):
        angle = np.pi / 2 + i * 2 * np.pi / 5
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_star(img, center, size, color, thickness):
    pts = []
    cx, cy = center
    for i in range(5):
        angle = np.pi / 2 + i * 2 * np.pi / 5
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_polygon(img, center, size, sides, color, thickness):
    pts = []
    cx, cy = center
    for i in range(sides):
        angle = np.pi / 2 + i * 2 * np.pi / sides
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_polygon(img, center, size, sides, color, thickness):
    pts = []
    cx, cy = center
    for i in range(sides):
        angle = np.pi / 2 + i * 2 * np.pi / sides
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_circle(img, center, size, color, thickness):
    cv2.circle(img, center, int(size), color, thickness)

def draw_circle(img, center, size, color, thickness):
    cv2.circle(img, center, int(size), color, thickness)

def draw_shadowed_square(img, center, size, square_color=(0, 128, 255), shadow_color=(50, 50, 50), thickness=4):
    cx, cy = center
    d = size // 2
    offset = size // 5

    # 影
    shadow_pts = np.array([
        (cx - d + offset, cy - d + offset),
        (cx + d + offset, cy - d + offset),
        (cx + d + offset, cy + d + offset),
        (cx - d + offset, cy + d + offset)
    ])
    cv2.fillPoly(img, [shadow_pts], shadow_color)

    # 本体
    square_pts = np.array([
        (cx - d, cy - d),
        (cx + d, cy - d),
        (cx + d, cy + d),
        (cx - d, cy + d)
    ])
    cv2.fillPoly(img, [square_pts], square_color)

def draw_shadowed_square(img, center, size, square_color=(0, 128, 255), shadow_color=(50, 50, 50), thickness=4):
    cx, cy = center
    d = size // 2
    offset = size // 5

    # 影
    shadow_pts = np.array([
        (cx - d + offset, cy - d + offset),
        (cx + d + offset, cy - d + offset),
        (cx + d + offset, cy + d + offset),
        (cx - d + offset, cy + d + offset)
    ])
    cv2.fillPoly(img, [shadow_pts], shadow_color)

    # 本体
    square_pts = np.array([
        (cx - d, cy - d),
        (cx + d, cy - d),
        (cx + d, cy + d),
        (cx - d, cy + d)
    ])
    cv2.fillPoly(img, [square_pts], square_color)

import cv2
import cv2.aruco as aruco
import numpy as np
import socket, threading, time
import pygame

# --- ArUco 設定 ---
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
parameters = aruco.DetectorParameters()

# --- 通信設定 ---
host = '0.0.0.0'
port = 8889
tello_addr = ('192.168.10.1', 8889)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

def recv():
    while True:
        try:
            data, _ = sock.recvfrom(1518)
            print(data.decode('utf-8'))
        except:
            break

threading.Thread(target=recv, daemon=True).start()

def send(cmd, delay=1):
    sock.sendto(cmd.encode(), tello_addr)
    print(f">>> {cmd}")
    time.sleep(delay)

# --- Tello 飛行・映像 ---
send('command')
send('streamon')
cap = cv2.VideoCapture("udp://192.168.10.1:11111")

# --- 効果音の初期化 ---
pygame.mixer.init()
point_sound = pygame.mixer.Sound("point.wav")

def play_point_sound():
    point_sound.stop()
    point_sound.play()

# --- 図形描画関数 ---
def draw_star(img, center, size, color, thickness):
    pts = []
    cx, cy = center
    for i in range(5):
        angle = np.pi / 2 + i * 2 * np.pi / 5
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_polygon(img, center, size, sides, color, thickness):
    pts = []
    cx, cy = center
    for i in range(sides):
        angle = np.pi / 2 + i * 2 * np.pi / sides
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_circle(img, center, size, color, thickness):
    cv2.circle(img, center, int(size), color, thickness)
    
def draw_pyramid(img, center, size, color=(0, 200, 255), thickness=2):
    cx, cy = center
    d = size // 2

    # 底面（三角）
    base = np.array([
        (cx - d, cy + d),
        (cx + d, cy + d),
        (cx, cy - d)
    ])

    # 頂点（上）
    apex = (cx, cy - int(size * 1.5))

    # 三角面を線で描く
    for pt in base:
        cv2.line(img, apex, pt, color, thickness)
    cv2.polylines(img, [base], isClosed=True, color=color, thickness=thickness)
    
    
def draw_transparent_cube(img, center, size, color=(200, 255, 200), thickness=2):
    cx, cy = center
    d = size // 2
    offset = size // 3

    front = np.array([
        (cx - d, cy - d),
        (cx + d, cy - d),
        (cx + d, cy + d),
        (cx - d, cy + d)
    ])
    back = np.array([
        (cx - d + offset, cy - d - offset),
        (cx + d + offset, cy - d - offset),
        (cx + d + offset, cy + d - offset),
        (cx - d + offset, cy + d - offset)
    ])

    for i in range(4):
        cv2.line(img, front[i], front[(i+1)%4], color, thickness)
        cv2.line(img, back[i], back[(i+1)%4], color, thickness)
        cv2.line(img, front[i], back[i], color, thickness)

def draw_shadowed_square(img, center, size, square_color=(0, 128, 255), shadow_color=(50, 50, 50), thickness=4):
    cx, cy = center
    d = size // 2
    offset = size // 5

    # 影を描画
    shadow_pts = np.array([
        (cx - d + offset, cy - d + offset),
        (cx + d + offset, cy - d + offset),
        (cx + d + offset, cy + d + offset),
        (cx - d + offset, cy + d + offset)
    ])
    cv2.fillPoly(img, [shadow_pts], shadow_color)

    # 正方形本体
    square_pts = np.array([
        (cx - d, cy - d),
        (cx + d, cy - d),
        (cx + d, cy + d),
        (cx - d, cy + d)
    ])
    cv2.fillPoly(img, [square_pts], square_color)

   
    
    
    

# --- メインループ変数 ---
score = 0
passed = set()
MARKERS = {
    0: 'star_floor',
    1: 'pentagon',
    2: 'circle',
    3: 'triangle',
    4: 'star_vertical',
    5: 'star_floor2',
    6: 'pentagon2',
    7: 'pyramid',
    8: 'cube_transparent',
    9: 'shadow_square'
}

DESIRED_HEIGHT_CM = 90

# --- メインループ ---
while True:
    ret, frame = cap.read()
    if not ret:
        continue

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    corners, ids, _ = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)

    frame_center = (frame.shape[1] // 2, frame.shape[0] // 2)
    cv2.circle(frame, frame_center, 10, (0, 255, 0), 2)

    if ids is not None:
        for idx, i in enumerate(ids.flatten()):
            c = corners[idx][0]
            cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())
            size_px = np.linalg.norm(c[0] - c[2])
            cm_per_px = size_px / 21.0
            shape = MARKERS.get(i, 'unknown')
            size = int(25 * cm_per_px)

            offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)
            cy_offset = cy + offset_y
            cy_offset = max(0, min(frame.shape[0] - 1, cy_offset))
            center_pos = (cx, cy_offset)

            # 図形描画
            if shape == 'star_floor' or shape == 'star_floor2':
                draw_star(frame, center_pos, size, (0, 255, 255), thickness=10)
            elif shape == 'pentagon' or shape == 'pentagon2':
                draw_polygon(frame, center_pos, size, 5, (255, 0, 0), thickness=10)
            elif shape == 'circle':
                draw_circle(frame, center_pos, size, (0, 0, 255), thickness=10)
            elif shape == 'triangle':
                draw_polygon(frame, center_pos, size, 3, (0, 255, 0), thickness=10)
            elif shape == 'star_vertical':
                draw_star(frame, center_pos, size, (0, 165, 255), thickness=10)
            elif shape == 'pyramid':
                draw_pyramid(frame, center_pos, size)
            elif shape == 'cube_transparent':
                draw_transparent_cube(frame, center_pos, size)
            elif shape == 'shadow_square':
                draw_shadowed_square(frame, center_pos, size)
   
                
                
                

            aruco.drawDetectedMarkers(frame, corners)
            cv2.putText(frame, shape, (cx + 10, cy + 10),
                        cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)

            # --- 接触判定とX表示 ---
            distance = np.hypot(cx - frame_center[0], cy - frame_center[1])
            marker_key = (i, cx, cy)

            if distance < 100 and marker_key not in passed:
                score += 10
                passed.add(marker_key)
                play_point_sound()
                print(f"Hit marker {i}! +10 points. Score: {score}")

            # 通過済みマーカーには常にXを表示
            if marker_key in passed:
                cv2.putText(frame, "X", (center_pos[0] - 20, center_pos[1] + 20),
                            cv2.FONT_HERSHEY_SIMPLEX, 2.0, (0, 0, 255), 5)

    # スコア表示
    cv2.putText(frame, f"Score: {score}", (30, 50),
                cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 255, 0), 3)

    cv2.imshow("Tello AR 7Shapes", frame)
    if cv2.waitKey(1) == 27:
        break

# --- 終了処理 ---
send('land')
cap.release()
cv2.destroyAllWindows()

import cv2
import cv2.aruco as aruco
import numpy as np
import socket, threading, time
import pygame

# --- ArUco 設定 ---
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
parameters = aruco.DetectorParameters()

# --- 通信設定 ---
host = '0.0.0.0'
port = 8889
tello_addr = ('192.168.10.1', 8889)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

def recv():
    while True:
        try:
            data, _ = sock.recvfrom(1518)
            print(data.decode('utf-8'))
        except:
            break

threading.Thread(target=recv, daemon=True).start()

def send(cmd, delay=1):
    sock.sendto(cmd.encode(), tello_addr)
    print(f">>> {cmd}")
    time.sleep(delay)

# --- Tello 飛行・映像 ---
send('command')
send('streamon')
cap = cv2.VideoCapture("udp://192.168.10.1:11111")

# --- 効果音の初期化 ---
pygame.mixer.init()
point_sound = pygame.mixer.Sound("point.wav")

def play_point_sound():
    point_sound.stop()
    point_sound.play()

# --- 図形描画関数 ---
def draw_star(img, center, size, color, thickness):
    pts = []
    cx, cy = center
    for i in range(5):
        angle = np.pi / 2 + i * 2 * np.pi / 5
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_polygon(img, center, size, sides, color, thickness):
    pts = []
    cx, cy = center
    for i in range(sides):
        angle = np.pi / 2 + i * 2 * np.pi / sides
        pts.append((int(cx + size * np.cos(angle)), int(cy - size * np.sin(angle))))
    cv2.polylines(img, [np.array(pts)], True, color, thickness)

def draw_circle(img, center, size, color, thickness):
    cv2.circle(img, center, int(size), color, thickness)
    
def draw_pyramid(img, center, size, color=(0, 200, 255), thickness=2):
    cx, cy = center
    d = size // 2

    # 底面（三角）
    base = np.array([
        (cx - d, cy + d),
        (cx + d, cy + d),
        (cx, cy - d)
    ])

    # 頂点（上）
    apex = (cx, cy - int(size * 1.5))

    # 三角面を線で描く
    for pt in base:
        cv2.line(img, apex, pt, color, thickness)
    cv2.polylines(img, [base], isClosed=True, color=color, thickness=thickness)
    
    
def draw_transparent_cube(img, center, size, color=(200, 255, 200), thickness=2):
    cx, cy = center
    d = size // 2
    offset = size // 3

    front = np.array([
        (cx - d, cy - d),
        (cx + d, cy - d),
        (cx + d, cy + d),
        (cx - d, cy + d)
    ])
    back = np.array([
        (cx - d + offset, cy - d - offset),
        (cx + d + offset, cy - d - offset),
        (cx + d + offset, cy + d - offset),
        (cx - d + offset, cy + d - offset)
    ])

    for i in range(4):
        cv2.line(img, front[i], front[(i+1)%4], color, thickness)
        cv2.line(img, back[i], back[(i+1)%4], color, thickness)
        cv2.line(img, front[i], back[i], color, thickness)

def draw_shadowed_square(img, center, size, square_color=(0, 128, 255), shadow_color=(50, 50, 50), thickness=4):
    cx, cy = center
    d = size // 2
    offset = size // 5

    # 影を描画
    shadow_pts = np.array([
        (cx - d + offset, cy - d + offset),
        (cx + d + offset, cy - d + offset),
        (cx + d + offset, cy + d + offset),
        (cx - d + offset, cy + d + offset)
    ])
    cv2.fillPoly(img, [shadow_pts], shadow_color)

    # 正方形本体
    square_pts = np.array([
        (cx - d, cy - d),
        (cx + d, cy - d),
        (cx + d, cy + d),
        (cx - d, cy + d)
    ])
    cv2.fillPoly(img, [square_pts], square_color)

   
    
    
    

# --- メインループ変数 ---
score = 0
passed = set()
MARKERS = {
    0: 'star_floor',
    1: 'pentagon',
    2: 'circle',
    3: 'triangle',
    4: 'star_vertical',
    5: 'star_floor2',
    6: 'pentagon2',
    7: 'pyramid',
    8: 'cube_transparent',
    9: 'shadow_square'
}

DESIRED_HEIGHT_CM = 90

# --- メインループ ---
while True:
    ret, frame = cap.read()
    if not ret:
        continue

    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    corners, ids, _ = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)

    frame_center = (frame.shape[1] // 2, frame.shape[0] // 2)
    cv2.circle(frame, frame_center, 10, (0, 255, 0), 2)

    if ids is not None:
        for idx, i in enumerate(ids.flatten()):
            c = corners[idx][0]
            cx, cy = int(c[:, 0].mean()), int(c[:, 1].mean())
            size_px = np.linalg.norm(c[0] - c[2])
            cm_per_px = size_px / 21.0
            shape = MARKERS.get(i, 'unknown')
            size = int(25 * cm_per_px)

            offset_y = int(-DESIRED_HEIGHT_CM * cm_per_px)
            cy_offset = cy + offset_y
            cy_offset = max(0, min(frame.shape[0] - 1, cy_offset))
            center_pos = (cx, cy_offset)

            # 図形描画
            if shape == 'star_floor' or shape == 'star_floor2':
                draw_star(frame, center_pos, size, (0, 255, 255), thickness=10)
            elif shape == 'pentagon' or shape == 'pentagon2':
                draw_polygon(frame, center_pos, size, 5, (255, 0, 0), thickness=10)
            elif shape == 'circle':
                draw_circle(frame, center_pos, size, (0, 0, 255), thickness=10)
            elif shape == 'triangle':
                draw_polygon(frame, center_pos, size, 3, (0, 255, 0), thickness=10)
            elif shape == 'star_vertical':
                draw_star(frame, center_pos, size, (0, 165, 255), thickness=10)
            elif shape == 'pyramid':
                draw_pyramid(frame, center_pos, size)
            elif shape == 'cube_transparent':
                draw_transparent_cube(frame, center_pos, size)
            elif shape == 'shadow_square':
                draw_shadowed_square(frame, center_pos, size)
   
                
                
                

            aruco.drawDetectedMarkers(frame, corners)
            cv2.putText(frame, shape, (cx + 10, cy + 10),
                        cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)

            # --- 接触判定とX表示 ---
            distance = np.hypot(cx - frame_center[0], cy - frame_center[1])
            marker_key = (i, cx, cy)

            if distance < 100 and marker_key not in passed:
                score += 10
                passed.add(marker_key)
                play_point_sound()
                print(f"Hit marker {i}! +10 points. Score: {score}")

            # 通過済みマーカーには常にXを表示
            if marker_key in passed:
                cv2.putText(frame, "X", (center_pos[0] - 20, center_pos[1] + 20),
                            cv2.FONT_HERSHEY_SIMPLEX, 2.0, (0, 0, 255), 5)

    # スコア表示
    cv2.putText(frame, f"Score: {score}", (30, 50),
                cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 255, 0), 3)

    cv2.imshow("Tello AR 7Shapes", frame)
    if cv2.waitKey(1) == 27:
        break

# --- 終了処理 ---
send('land')
cap.release()
cv2.destroyAllWindows()